Merge branch 'master' into revl_troubleshooting

Merge with master.
lab11 · Sep 11, 2023 · b438772 · b438772
2 parents add5056 + d5c1e51
commit b438772
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Showing 3 changed files with 40 additions and 7 deletions.
diff --git a/software/firmware/.settings/language.settings.xml b/software/firmware/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="1349187344451287604" id="org.eclipse.embedcdt.managedbuild.cross.arm.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Arm Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="1424646437403787802" id="org.eclipse.embedcdt.managedbuild.cross.arm.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Arm Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

diff --git a/software/firmware/src/boards/revL/pinout.h b/software/firmware/src/boards/revL/pinout.h
@@ -24,11 +24,15 @@
 #define PIN_RADIO_SPI_MISO                          33
 #define PIN_RADIO_SPI_MOSI                          32
 #define PIN_RADIO_SPI_CS                            29
+#define PIN_RADIO_SPI_CS2                           24
+#define PIN_RADIO_SPI_CS3                           25
 #define PIN_RADIO_INTERRUPT                         27
+#define PIN_RADIO_INTERRUPT2                        51
+#define PIN_RADIO_INTERRUPT3                        79
 #define PIN_RADIO_RESET                             50
 #define PIN_RADIO_WAKEUP                            26
-#define PIN_RADIO_ANTENNA_SELECT1                   24
-#define PIN_RADIO_ANTENNA_SELECT2                   25
+#define PIN_RADIO_WAKEUP2                           53
+#define PIN_RADIO_WAKEUP3                           88
 #define PIN_RADIO_SPI_SCK_FUNCTION                  AM_HAL_PIN_31_M3SCK
 #define PIN_RADIO_SPI_MISO_FUNCTION                 AM_HAL_PIN_33_M3MISO
 #define PIN_RADIO_SPI_MOSI_FUNCTION                 AM_HAL_PIN_32_M3MOSI
@@ -45,10 +49,10 @@
 #define PIN_IMU_RESET                               65
 
 // LEDs
-#define PIN_LED1_RED                                52
-#define PIN_LED1_GREEN                              51
-#define PIN_LED2_RED                                76
-#define PIN_LED2_YELLOW                             88
+#define PIN_LED1_RED                                11  // INCORRECT MAPPING DUE TO SHARED PINS
+#define PIN_LED1_GREEN                              12  // INCORRECT MAPPING DUE TO SHARED PINS
+#define PIN_LED2_RED                                15  // INCORRECT MAPPING DUE TO SHARED PINS
+#define PIN_LED2_YELLOW                             16  // INCORRECT MAPPING DUE TO SHARED PINS
 
 // Logging
 #define PIN_SWO                                     3

diff --git a/software/firmware/src/peripherals/src/ranging.c b/software/firmware/src/peripherals/src/ranging.c
@@ -145,12 +145,25 @@ void ranging_radio_init(uint8_t *uid)
    // Set up the DW3000 wake-up pin as an output, initially set to low
    configASSERT0(am_hal_gpio_pinconfig(PIN_RADIO_WAKEUP, am_hal_gpio_pincfg_output));
    am_hal_gpio_output_clear(PIN_RADIO_WAKEUP);
+#if REVISION_ID >= REVISION_L
+   configASSERT0(am_hal_gpio_pinconfig(PIN_RADIO_WAKEUP2, am_hal_gpio_pincfg_output));
+   am_hal_gpio_output_clear(PIN_RADIO_WAKEUP2);
+   configASSERT0(am_hal_gpio_pinconfig(PIN_RADIO_WAKEUP3, am_hal_gpio_pincfg_output));
+   am_hal_gpio_output_clear(PIN_RADIO_WAKEUP3);
+#endif
 
    // Set up the DW3000 antenna selection pins
+#if REVISION_ID < REVISION_L
    configASSERT0(am_hal_gpio_pinconfig(PIN_RADIO_ANTENNA_SELECT1, am_hal_gpio_pincfg_output));
    am_hal_gpio_output_clear(PIN_RADIO_ANTENNA_SELECT1);
    configASSERT0(am_hal_gpio_pinconfig(PIN_RADIO_ANTENNA_SELECT2, am_hal_gpio_pincfg_output));
    am_hal_gpio_output_clear(PIN_RADIO_ANTENNA_SELECT2);
+#else
+   configASSERT0(am_hal_gpio_pinconfig(PIN_RADIO_SPI_CS2, am_hal_gpio_pincfg_output));
+   am_hal_gpio_output_set(PIN_RADIO_SPI_CS2);
+   configASSERT0(am_hal_gpio_pinconfig(PIN_RADIO_SPI_CS3, am_hal_gpio_pincfg_output));
+   am_hal_gpio_output_set(PIN_RADIO_SPI_CS3);
+#endif
 
    // Set up incoming interrupts from the DW3000
    uint32_t radio_interrupt_pin = PIN_RADIO_INTERRUPT;
@@ -160,6 +173,18 @@ void ranging_radio_init(uint8_t *uid)
    configASSERT0(am_hal_gpio_interrupt_control(AM_HAL_GPIO_INT_CHANNEL_0, AM_HAL_GPIO_INT_CTRL_INDV_ENABLE, &radio_interrupt_pin));
    NVIC_SetPriority(GPIO0_001F_IRQn + GPIO_NUM2IDX(PIN_RADIO_INTERRUPT), NVIC_configMAX_SYSCALL_INTERRUPT_PRIORITY);
    NVIC_EnableIRQ(GPIO0_001F_IRQn + GPIO_NUM2IDX(PIN_RADIO_INTERRUPT));
+#if REVISION_ID >= REVISION_L
+   radio_interrupt_pin = PIN_RADIO_INTERRUPT2;
+   configASSERT0(am_hal_gpio_pinconfig(PIN_RADIO_INTERRUPT2, interrupt_pin_config));
+   configASSERT0(am_hal_gpio_interrupt_control(AM_HAL_GPIO_INT_CHANNEL_0, AM_HAL_GPIO_INT_CTRL_INDV_ENABLE, &radio_interrupt_pin));
+   //NVIC_SetPriority(GPIO0_001F_IRQn + GPIO_NUM2IDX(PIN_RADIO_INTERRUPT2), NVIC_configMAX_SYSCALL_INTERRUPT_PRIORITY);
+   //NVIC_EnableIRQ(GPIO0_001F_IRQn + GPIO_NUM2IDX(PIN_RADIO_INTERRUPT2));
+   radio_interrupt_pin = PIN_RADIO_INTERRUPT3;
+   configASSERT0(am_hal_gpio_pinconfig(PIN_RADIO_INTERRUPT3, interrupt_pin_config));
+   configASSERT0(am_hal_gpio_interrupt_control(AM_HAL_GPIO_INT_CHANNEL_0, AM_HAL_GPIO_INT_CTRL_INDV_ENABLE, &radio_interrupt_pin));
+   //NVIC_SetPriority(GPIO0_001F_IRQn + GPIO_NUM2IDX(PIN_RADIO_INTERRUPT3), NVIC_configMAX_SYSCALL_INTERRUPT_PRIORITY);
+   //NVIC_EnableIRQ(GPIO0_001F_IRQn + GPIO_NUM2IDX(PIN_RADIO_INTERRUPT3));
+#endif
 
    // Initialize the SPI module and enable all relevant SPI pins
    am_hal_gpio_pincfg_t sck_config = g_AM_BSP_GPIO_IOM0_SCK;
@@ -286,6 +311,7 @@ void ranging_radio_choose_channel(uint8_t channel)
 void ranging_radio_choose_antenna(uint8_t antenna_number)
 {
    // Enable the desired antenna
+#if REVISION_ID < REVISION_L
    switch (antenna_number)
    {
       case 0:
@@ -303,6 +329,7 @@ void ranging_radio_choose_antenna(uint8_t antenna_number)
       default:
          break;
    }
+#endif
 }
 
 void ranging_radio_disable(void)
@@ -314,8 +341,10 @@ void ranging_radio_disable(void)
 void ranging_radio_sleep(bool deep_sleep)
 {
    // Disable all antennas
+#if REVISION_ID < REVISION_L
    am_hal_gpio_output_clear(PIN_RADIO_ANTENNA_SELECT1);
    am_hal_gpio_output_clear(PIN_RADIO_ANTENNA_SELECT2);
+#endif
 
    // Make sure the radio is disabled and clear the interrupt mask to disable unwanted events
    dwt_forcetrxoff();